Subsea pumping apparatuses and related methods

ABSTRACT

This disclosure includes subsea pumping apparatuses and related methods. Some apparatuses include one or more subsea pumps, each having an inlet and an outlet, and one or more motors, each configured to actuate at least one pump to communicate a hydraulic fluid from the inlet to the outlet, where the subsea pumping apparatus is configured to be in fluid communication with a hydraulically actuated device of a blowout preventer. Some subsea pumping apparatuses include one or more of: a desalination system configured to produce at least a portion of the hydraulic fluid; one or more valves, each configured to selectively route hydraulic fluid from an outlet of a pump to, for example, a subsea environment, a reservoir, and/or the inlet of the pump; and a reservoir configured to store at least a portion of the hydraulic fluid. Some apparatuses are configured to be directly coupled to the hydraulically actuated device.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority to U.S. Provisional Application No.61/866,483, entitled “INTEGRATED MONITORING, CONTROL, AND ACTUATION FORBLOWOUT PREVENTER (BOP) HYDRAULIC DEVICES,” filed Aug. 15, 2013, thecontents of which, to the extent not inconsistent with the presentdisclosure, are incorporated by reference in their entirety.

BACKGROUND 1. Field of Invention

The present invention relates generally to subsea pumping, and morespecifically, but not by way of limitation, to subsea pumpingapparatuses configured to, for example, provide hydraulic fluid to asubsea hydraulically actuated device (e.g., of a blowout preventer).

2. Description of Related Art

A blowout preventer is a mechanical device, usually installedredundantly in stacks, used to seal, control, and/or monitor oil and gaswells. Typically, a blowout preventer includes a number of components,such as, for example, rams, annulars, accumulators, test valves, killand/or choke lines and/or valves, riser connectors, hydraulicconnectors, and/or the like, many of which may be hydraulicallyactuated.

Typically, in a subsea well, such hydraulic actuation is achieved bypumping hydraulic fluid from a surface installation, through one or morehydraulic lines, and to the subsea blowout preventer.

Examples of subsea pumps are disclosed in U.S. Pat. Nos. 8,382,457;8,500,419; and 8,083,501.

SUMMARY

Some embodiments of the present subsea pumping apparatuses areconfigured, through one or more connectors (e.g., hydraulic stabs,interface ports, and/or the like) and/or a frame and/or housing todirectly couple to and/or be in direct fluid communication with ahydraulically actuated device of a blowout preventer (e.g., and thus bedisposed above a sea floor).

Some embodiments of the present subsea pumping apparatuses areconfigured, through a desalination system having, for example, a reverseosmosis membrane and a pump configured to pass sea water through themembrane, to allow for subsea production of hydraulic fluid.

Some embodiments of the present subsea pumping apparatuses areconfigured, through one or more valves, each in fluid communication withan outlet of a pump and configured to route hydraulic fluid from theoutlet to an area having a lower pressure than an internal pressure ofthe outlet (e.g., a subsea environment, a reservoir, an inlet of thepump, and/or the like), to allow for a reduction of a load on and/orcontrol of hydraulic fluid flow from the pump and/or a reduction of theinternal pressure of the outlet.

Some embodiments of the present subsea pumping apparatuses areconfigured, through a fluid reservoir in fluid communication with atleast one pump, to store hydraulic fluid subsea.

Some embodiments of the present subsea pumping apparatuses comprise oneor more subsea pumps, each having an inlet and an outlet, and one ormore motors, each configured to actuate at least one of the one or morepumps, where the subsea pumping apparatus is configured to be in fluidcommunication with a hydraulically actuated device of a blowoutpreventer. In some embodiments, the hydraulically actuated devicecomprises at least one of a ram, an annular, a connector, and a failsafevalve function.

In some embodiments, the hydraulic fluid comprises at least one of seawater, desalinated water, treated water, and an oil-based fluid.

Some embodiments comprise one or more hydraulic stabs, each in fluidcommunication with at least one of the one or more pumps, where thesubsea pumping apparatus is configured to be in direct fluidcommunication with a hydraulically actuated device of a blowoutpreventer via the one or more hydraulic stabs.

Some embodiments comprise a desalination system configured to desalinatesea water to produce at least a portion of the hydraulic fluid. In someembodiments, the desalination system comprises a reverse osmosismembrane and a pump configured to pass sea water through the membrane toproduce the hydraulic fluid.

Some embodiments comprise one or more valves, each in fluidcommunication with the outlet of at least one of the one or more pumpsand configured to selectively route hydraulic fluid from the outlet toat least one of a subsea environment, a reservoir, and the inlet of thepump.

Some embodiments comprise a fluid reservoir in fluid communication withat least one of the one or more pumps, the fluid reservoir configured tostore at least a portion of the hydraulic fluid. In some embodiments,the fluid reservoir comprises an accumulator. In some embodiments, thefluid reservoir comprises a piston configured to vary an internal volumeof the fluid reservoir, the piston having a surface exposed to seawater. In some embodiments, the fluid reservoir comprises a flexiblebladder. In some embodiments, the fluid reservoir comprises an ambientpressure reservoir.

Some embodiments comprise a fluid rail in fluid communication with theoutlet of at least one of the one or more pumps. Some embodimentscomprise one or more regulators configured to deliver hydraulic fluidfrom the subsea pumping apparatus to the hydraulically actuated deviceat one or more pressures.

In some embodiments, at least a portion of the hydraulic fluid is storedon the surface. Some embodiments comprise a hydraulic connector in fluidcommunication with at least one of the one or more pumps and configuredto be coupled to at least one of a rigid conduit and a hot line tosupply at least a portion of the hydraulic fluid to the subsea pumpingapparatus.

Some embodiments comprise a treatment system configured to supply adopant to at least a portion of the hydraulic fluid. In someembodiments, the treatment system comprises a dopant pump configured tosupply the dopant to the hydraulic fluid. In some embodiments, thetreatment system comprises a dopant reservoir configured to store atleast a portion of the dopant.

Some embodiments comprise a filtering system configured to filter thehydraulic fluid. In some embodiments, the filtering system comprises afilter. In some embodiments, the filtering system comprises a pump. Insome embodiments, the filtering system comprises a bypass valveconfigured to selectively divert fluid around at least a portion of thefiltering system. Some embodiments comprise an ultraviolet (UV) lightconfigured to expose at least a portion of the hydraulic fluid to UVlight.

In some embodiments, at least one of the one or more pumps comprises apiston pump, diaphragm pump, centrifugal pump, vane pump, gear pump,gerotor pump, or screw pump. In some embodiments, at least one of theone or more pumps comprises a variable displacement pump. In someembodiments, at least one of the one or more pumps comprises a fixeddisplacement pump. In some embodiments, at least one of the one or morepumps comprises a bidirectional pump. In some embodiments, the outlet ofat least one of the one or more pumps is in fluid communication with aninlet of at least one other pump. In some embodiments, the one or morepumps comprises two pumps. Some embodiments comprise a fluid-filled pumpchamber, at least one of the one or more pumps disposed within the pumpchamber.

In some embodiments, at least one of the one or more motors comprises asynchronous alternating current (AC) motor, an asynchronous AC motor, abrusher direct current (DC) motor, a brushless DC motor, or a permanentmagnet DC motor. In some embodiments, at least one of the one or moremotors is configured to actuate at least two of the one or more pumps.In some embodiments, at least one of the one or more motors is coupledto at least one of the one or more pumps via a gear box. In someembodiments, at least one of the one or more motors is directly coupledto at least one of the one or more pumps such that neither a shaft sealof the motor nor a shaft seal of the pump is exposed to the subseaenvironment.

Some embodiments comprise one or more batteries coupled to the subseapumping apparatus and configured to provide electrical power to at leastone of the one or more motors. In some embodiments, the one or morebatteries are configured to provide power to a majority of the one ormore motors. Some embodiments comprise an atmospheric pressure vessel,at least one of the one or more batteries disposed within the pressurevessel. Some embodiments comprise a pressure-compensated fluid-filledchamber, at least one of the one or more batteries disposed in thefluid-filled chamber.

Some embodiments comprise an electrical connector in electricalcommunication with at least one of the one or more motors and configuredto be coupled to an auxiliary cable to provide electrical power to thesubsea pumping apparatus. In some embodiments, the electrical connectorcomprises an inductive coupler.

Some embodiments are configured to be directly coupled to another of thepresent subsea pumping apparatuses. Some embodiments are configured tobe directly coupled to a blowout preventer.

In some embodiments, at least a portion of the subsea pumping apparatusis configured to be retrievable by a remotely operated underwatervehicle (ROV). Some embodiments comprise one or more ROV stabsconfigured to allow at least one of electrical or hydraulic ROV controlof the subsea pumping apparatus.

Some embodiments comprise a control circuit, the control circuitcomprising one or more motor controllers, each motor controller inelectrical communication with at least one of the one or more motors andconfigured to selectively adjust a speed of the motor. In someembodiments, at least one of the one or more motor controllers isconfigured to adjust a speed of a motor by selectively activating anddeactivating the motor. In some embodiments, at least one of the one ormore motor controllers is configured to selectively adjust a speed of amotor to a speed selected from at least three pre-determined speeds.

Some embodiments comprise a control circuit, the control circuitcomprising one or more valve controllers, where each valve controller isin electrical communication with at least one of the one or more valvesand is configured to adjust an output of a pump by selectively varyingthe position of the valve between an open and a closed position.

Some embodiments comprise one or more sensors coupled to the subseapumping apparatus and configured to capture data indicative of at leastone of pressure, flow rate, temperature, conductivity, pH, position,velocity, acceleration, current, and voltage. Some embodiments comprisecircuitry for communicating a signal indicative of the data captured bythe one or more sensors. Some embodiments comprise a memory coupled tothe circuitry.

Some embodiments comprise a processor configured to control, based atleast in part on the data captured by the one or more sensors, actuationof at least one of: at least one of the one or more motors and at leastone of the one or more pumps. In some embodiments, the processor isconfigured to detect, based at least in part on the data captured by theone or more sensors, an abnormal operation associated with one or morecomponents including at least one of at least one of the one or morepumps, at least one of the one or more motors, hydraulically actuateddevice, and blowout preventer, perform a diagnostic analysis of the oneor more components, and control the one or more components based atleast in part on at least one of the detected abnormal operation and aresult of the diagnostic analysis. Some embodiments comprise a memorycoupled to the processor. In some embodiments, the processor isconfigured to electrically communicate with an above sea controlinterface. Some embodiments comprise a battery configured to provideelectrical power to the processor. In some embodiments, the processor iscoupled to the subsea pumping apparatus.

Some embodiments of the present redundant pressure systems comprise afirst flow source comprising a rigid conduit configured to providehydraulic fluid to a hydraulically actuated device and a second flowsource comprising one or more of the present subsea pumping apparatusesconfigured to provide hydraulic fluid to the hydraulically actuateddevice, where the first and second flow sources are configured tosimultaneously supply hydraulic fluid to the hydraulically actuateddevice.

Some embodiments of the present methods for actuating a plurality ofsubsea pumps disposed on a subsea pumping apparatus comprise actuatingat least a first pump via electrical power from an auxiliary cable andactuating at least a second pump via electrical power from a batterydisposed on the subsea pumping apparatus. Some embodiments compriseactuating at least a first pump with a first level of power provided bya first auxiliary cable and actuating at least a second pump with asecond level of power provided by a second auxiliary cable, where thefirst level of power is equal to or larger than the second level ofpower. In some embodiments, at least one pump is in series with at leastone other pump. In some embodiments, at least one pump is in parallelwith at least one other pump.

Some embodiments of the present methods for actuating one or more subseapumps disposed on a subsea pumping apparatus comprise actuating a valveof the subsea pumping apparatus to divert hydraulic fluid from an outletof at least one of the one or more pumps and routing the divertedhydraulic fluid to at least one of a subsea environment, a reservoir,and an inlet of the at least one of the one or more pumps.

Some embodiments of the present methods for actuating one or more subseapumps disposed on a subsea pumping apparatus comprise selectivelyactivating and deactivating at least one motor configured to actuate atleast one of the one or more pumps.

Some embodiments of the present methods for subsea production ofhydraulic fluid for actuating a hydraulically actuated device comprisepumping sea water through a subsea membrane to produce the hydraulicfluid. Some embodiments comprise mixing at least a portion of thehydraulic fluid with a dopant.

Some embodiments of the present methods for actuating a hydraulicallyactuated device comprise providing hydraulic fluid to the hydraulicallyactuated device using one or more pumps disposed on a subsea pumpingapparatus, where the one or more pumps are in direct fluid communicationwith the hydraulically actuated device. Some embodiments comprisevarying an actuation speed of the hydraulically actuated device byvarying a speed of a motor coupled to at least one of the one or morepumps. In some embodiments, at least one of the one or more pumps is abi-directional hydraulic pump.

Some embodiments of the present methods for controlling a pressurewithin a subsea hydraulic system comprise determining an amount ofhydraulic fluid leakage from the subsea hydraulic system and providing,with one or more subsea pumps, an amount of hydraulic fluid to thesubsea hydraulic system that substantially matches the amount ofhydraulic fluid leakage.

Some embodiments of the present methods for controlling a plurality ofmotor-actuated subsea pumps comprise recording a run-time of a firstmotor over a pre-determined period of time and deactivating the firstmotor and activating a second motor if the recorded run-time exceeds apre-determined threshold. Some embodiments comprise recording a numberof motor activations of a first motor over a first pre-determined periodof time and activating a second motor in lieu of the first motor duringa second pre-determined period of time if the number of motoractivations of the first motor over the first pre-determined period oftime exceeds a pre-determined threshold. Some embodiment compriserecording a number of motor activations of a motor over a firstpre-determined period of time and not deactivating the motor, if themotor is activated, for a second pre-determined period of time if thenumber of motor activations of the motor over the first pre-determinedperiod of time exceeds a pre-determined threshold.

As used in this disclosure, the term “blowout preventer” includes, butis not limited to, a single blowout preventer, as well as a blowoutpreventer assembly that may include more than one blowout preventer(e.g., a blowout preventer stack).

Hydraulic fluids of and/or suitable for use in the present pumpingapparatuses can comprise any suitable fluid, such as, for example, seawater, desalinated water, treated water, an oil-based fluid, mixturesthereof, synthetic fluids, plant-based fluids, and/or the like.

The term “coupled” is defined as connected, although not necessarilydirectly, and not necessarily mechanically. The terms “a” and “an” aredefined as one or more unless this disclosure explicitly requiresotherwise. The term “substantially” is defined as largely but notnecessarily wholly what is specified (and includes what is specified;e.g., substantially 90 degrees includes 90 degrees and substantiallyparallel includes parallel), as understood by a person of ordinary skillin the art. In any disclosed embodiment, the terms “substantially” and“approximately” may be substituted with “within [a percentage] of” whatis specified, where the percentage includes 0.1, 1, 5, and 10%.

Further, a device or system that is configured in a certain way isconfigured in at least that way, but it can also be configured in otherways than those specifically described.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”), and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, anapparatus that “comprises,” “has,” “includes,” or “contains” one or moreelements possesses those one or more elements, but is not limited topossessing only those elements. Likewise, a method that “comprises,”“has,” “includes,” or “contains” one or more steps possesses those oneor more steps, but is not limited to possessing only those one or moresteps.

Any embodiment of any of the apparatuses, systems, and methods canconsist of or consist essentially of—rather thancomprise/include/contain/have—any of the described steps, elements,and/or features. Thus, in any of the claims, the term “consisting of” or“consisting essentially of” can be substituted for any of the open-endedlinking verbs recited above, in order to change the scope of a givenclaim from what it would otherwise be using the open-ended linking verb.

The feature or features of one embodiment may be applied to otherembodiments, even though not described or illustrated, unless expresslyprohibited by this disclosure or the nature of the embodiments.

Some details associated with the embodiments described above and othersare described below.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings illustrate by way of example and not limitation.For the sake of brevity and clarity, every feature of a given structureis not always labeled in every figure in which that structure appears.Identical reference numbers do not necessarily indicate an identicalstructure. Rather, the same reference number may be used to indicate asimilar feature or a feature with similar functionality, as maynon-identical reference numbers. The figures are drawn to scale (unlessotherwise noted), meaning the sizes of the depicted elements areaccurate relative to each other for at least the embodiment depicted inthe figures.

FIG. 1A is a perspective view of a first embodiment of the presentsubsea pumping apparatuses.

FIG. 1B is a side view of the pumping apparatus of FIG. 1A.

FIGS. 1C and 1D are front and back views, respectively, of the pumpingapparatus of FIG. 1A.

FIG. 1E is a top view of the pumping apparatus of FIG. 1A.

FIG. 2A is a diagram of a pump and motor configuration suitable for usein some embodiments of the present pumping apparatuses.

FIG. 2B is a diagram of a pump and motor configuration suitable for usein some embodiments of the present pumping apparatuses.

FIG. 3A is a diagram of a pump and valve configuration suitable for usein some embodiments of the present pumping apparatuses.

FIG. 3B is a diagram of a pump and valve configuration suitable for usein some embodiments of the present pumping apparatuses.

FIG. 4A is a perspective view of a second embodiment of the presentsubsea pumping apparatuses.

FIG. 4B is a side view of the pumping apparatus of FIG. 4A.

FIGS. 4C and 4D are front and back views, respectively, of the pumpingapparatus of FIG. 4A.

FIG. 4E is a partially cutaway top view of the pumping apparatus of FIG.4A.

FIG. 5A is a cross-sectional side view of a fluid reservoir suitable foruse in some embodiments of the present pumping apparatuses.

FIG. 5B is a cross-sectional side view of a fluid reservoir suitable foruse in some embodiments of the present pumping apparatuses.

FIG. 6 is a diagram of a desalination system and a treatment systemsuitable for use in some embodiments of the present pumping apparatuses.

FIG. 7A is a perspective view of a third embodiment of the presentsubsea pumping apparatuses.

FIG. 7B is a side view of the pumping apparatus of FIG. 7A.

FIGS. 7C and 7D are front and back views, respectively, of the pumpingapparatus of FIG. 7A.

FIG. 7E is a top view of the pumping apparatus of FIG. 7A.

FIG. 8 is a diagram of a fourth embodiment of the present subsea pumpingapparatuses.

FIG. 9 is a diagram of a fifth embodiment of the present subsea pumpingapparatuses.

DETAILED DESCRIPTION OF ILLUSTRATIVE EMBODIMENTS

Referring now to the drawings, and more particularly to FIGS. 1A-1E,shown therein and designated by the reference numeral 10 a is a firstembodiment of the present subsea pumping apparatuses. In the embodimentshown, pumping apparatus 10 a comprises one or more subsea pumps 14,each having an inlet 18 and an outlet 22. In this embodiment, pumpingapparatus 10 a comprises 4 (four) pumps; however, other embodiments ofthe present pumping apparatuses can comprise any suitable number ofpumps, such as, for example, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or morepumps. Any pump of the present pumping apparatuses can comprise anysuitable pump, such as, for example, a positive displacement pump (e.g.,a piston pump, such as, for example, an axial piston pump, radial pistonpump, duplex, triplex, quintuplex or the like piston/plunger pump,diaphragm pump, gear pump, vane pump, screw pump, gerotor pump, and/orthe like), velocity pump (e.g., a centrifugal pump, and/or the like),and each pump need not be identical to any others of the pumps in type,size, configuration, and/or the like. For further example, one or moreof pumps 14 may be variable or fixed displacement, unidirectional orbidirectional, and/or pressure-compensated or not pressure-compensated.For yet further example, one or more of pumps 14 may be a bi-directionalpump, an over-center pump, and/or a switched-mode pump. Apparatuses andpumps of the present disclosure can be configured to provide hydraulicfluid at any suitable flow rate and/or pressure. For example, someembodiments of the present apparatuses and/or pumps are configured toprovide hydraulic fluid to a hydraulically actuated device at a flowrate of between 3 gallons per minute (gpm) and 130 gpm or higher and ata pressure of between 500 pounds per square inch gauge (psig) and 5,000psig or higher.

In the embodiment shown, pumping apparatus 10 a is configured to be influid communication with a hydraulically actuated device of a blowoutpreventer, such as, for example, a ram, annular, accumulator, testvalve, failsafe valve, kill and/or choke line and/or valve, riser joint,hydraulic connector, and/or the like. In some embodiments, such fluidcommunication can be facilitated, for example, via one or more conduitsdisposed between the subsea pumping apparatus and the hydraulicallyactuated device (e.g., whether fixed or removable and whether rigid orflexible), which can be connected to the subsea pumping apparatus viaany suitable connector (e.g., stabs 46, described in more detail below,interface ports 26, and/or the like).

In this embodiment, pumping apparatus 10 a comprises one or more motors30, each configured to actuate at least one pump 14 to communicatehydraulic fluid from the pump inlet 18 to the pump outlet 22. In theembodiment shown, each of the one or more motors 30 are electricallyactuated; however, in other embodiments, any number of the one or moremotors may be hydraulically and/or electrically actuated. In embodimentscomprising one or more electric motors (e.g., 10 a), any electric motorcan comprise any suitable electric motor, such as, for example, asynchronous alternating current (AC) motor, asynchronous AC motor,brushed direct current (DC) motor, brushless DC motor, permanent magnetDC motor, and/or the like. In some embodiments, at least one of motors30 is pressure-compensated.

In the embodiment shown, at least one motor 30 is directly coupled to atleast one pump 14. In some embodiments, such direct coupling is suchthat neither a shaft seal of the motor nor a shaft seal of the pump isexposed to a subsea environment. For example, a portion of the motor canbe configured to extend over a portion of the pump, a portion of thepump can be configured to extend over a portion of the motor, and/or theinterface between the motor and the pump can be sealed. In someembodiments, such direct coupling can be facilitated through magneticcoupling. For example, at least a portion of the motor and/or the pumpcan be magnetic, and actuation forces and/or torques from the motor canbe transferred to the pump magnetically. In these embodiments, the motorand/or pump can be substantially sealed from a subsea environment (e.g.,with a material that does not substantially interrupt the magneticcoupling between the motor and pump). In this way, a seal and/or arotatable shaft of the motor and/or pump can be substantially sealedfrom a subsea environment, while allowing actuation forces and/ortorques to be magnetically transferred from the motor to the pump.

In some embodiments, at least one motor 30 has a housing comprising afluid passageway in fluid communication with an inlet 18 and/or outlet22 of a pump 14. In this way, hydraulic fluid flow induced by the pumpcan be passed through the fluid passageway of the motor (e.g., tofacilitate motor cooling).

FIGS. 2A and 2B are diagrams of two illustrative examples of pump andmotor configurations suitable for use in some embodiments of the presentpumping apparatuses (e.g., 10 a). As shown in FIG. 2A, in someembodiments, an outlet 22 of at least one pump 14 is in fluidcommunication with an outlet 22 of at least one other pump 14 (e.g., atleast two pumps are disposed in parallel, which may provide a level ofpump redundancy and/or a reduction in peak pumping power consumption).Also shown in FIG. 2A, in some embodiments, at least one motor 30 can beconfigured to actuate at least two pumps 14. In the depicted example,one or more one-way and/or on-off valves 34 are disposed in fluidcommunication with an outlet 22 of at least one pump and configured toprevent backflow (e.g., flow entering an inlet of a pump).

As shown in FIG. 2B, in some embodiments, an outlet 22 of at least onepump 14 is in fluid communication with an inlet 18 of at least one otherpump 14 (e.g., at least two pumps are disposed in series, for example,to increase hydraulic fluid pressure through staged pumping). Also shownin FIG. 2A, in some embodiments, at least one motor 30 is configured toactuate a single pump 14. In the depicted example, at least one motor 30is coupled to a pump 14 via a variable ratio drive 32 (e.g., amechanical variable ratio drive, such as, for example, a planetary gearbox and/or the like, a hydraulic variable ratio drive, and/or the like,whether comprising gears, rollers, belts, and/or the like). The pump andmotor configurations shown in FIGS. 2A and 2B are shown only by way ofexample, and are not exclusive. For example, pumping apparatuses of thepresent disclosure can comprise two or more pumps 14 disposed in series,two or more pumps disposed in parallel, any combination thereof, and/orany other suitable configuration. For further example, pumpingapparatuses of the present disclosure can comprise two or more pumpsactuated by a single motor 30 (e.g., or group of motors), a single pumpactuated by a single motor (e.g., or group of motors), any combinationthereof, and/or any other suitable configuration.

As shown, some embodiments of the present pumping apparatuses comprise asealed fluid-filled pump chamber 36 (e.g., which may bepressure-compensated). In these embodiments, at least one of the pumpsand/or motors is disposed within the pump chamber (e.g., to shield themotor and/or pump from a subsea environment). In some embodiments, atleast one of the pumps and/or motors is disposed within a hydraulicfluid reservoir (e.g., 50, described in more detail below), to providefor similar shielding and/or protection.

FIGS. 3A and 3B are diagrams of two illustrative examples of pump andvalve configurations suitable for use in some embodiments of the presentpumping apparatuses (e.g., 10 a). As shown, the present pumpingapparatuses can comprise one or more valves 38, each in fluidcommunication with an outlet 22 of at least one pump 14 and configuredto selectively divert and/or route hydraulic fluid from the outlet 22.Any valve 38 can comprise any suitable valve, such as, for example, a2-way poppet valve, a 3-way proportional unloader valve, a relief valve,a regulating valve, an unloading valve and/or the like. As shown, inFIG. 3A, a valve 38 can be configured to divert and/or route hydraulicfluid from an outlet 22 of at least one pump 14 to a subsea environmentand/or reservoir. As shown in FIG. 3B, a valve 38 can be configured toselectively divert and/or route hydraulic fluid from an outlet 22 of atleast one pump 14 to an inlet 18 of a pump. A pressure within a pumpoutlet may be higher than a pressure within a pump inlet and/or within areservoir and/or an ambient pressure of a surrounding subseaenvironment. Thus, in these embodiments, one or more valves 38 can beconfigured to reduce load on a pump and/or motor (e.g., during motorand/or pump start up), relieve pressure within the pump and/or pumpoutlet and/or within a portion of a subsea pumping apparatus, and/orregulate the pressure and/or flow rate of hydraulic fluid exiting theoutlet.

Referring back to FIGS. 1A-1E, in the depicted embodiment, subseapumping apparatus 10 a comprises a frame 42 configured to contain,secure, and/or isolate components (e.g., pumps 14, motors 30, valves 34and/or 38, interface ports 26, connectors 28, conduits, other componentsdescribed below, and/or the like) of the subsea pumping apparatus. Forexample, in this embodiment, the one or more motors (e.g., andassociated pumps 14) are disposed longitudinally above one another andwithin frame 42 (e.g., in a generally vertical orientation). For furtherexample, in this embodiment, each motor 30 is coupled to frame 42independently of each other motor via one or more motor mounts 44. Inthis way, frame 42 facilitates isolation of each motor 30 (e.g., andassociated pumps 14) from vibrations that may be induced by other motorsand/or pumps. However, in other embodiments, frame 42 may be omitted,and conduits, components, component housings, and/or the like canfunction to locate and/or secure components within the pumping assembly.

In this embodiment, pumping apparatus 10 a is configured to be directlycoupled to a blowout preventer and/or to a hydraulically actuated deviceof a blowout preventer (e.g., via frame 42, interface ports 26,connectors 28, stabs 46 (described in more detail below), and/or thelike) (e.g., pumping apparatus 10 a is configured to be disposed above asea floor). In the embodiment shown, at least a portion of (e.g., up toand including all of) subsea pumping apparatus 10 a is configured to beretrievable by a remotely operated underwater vehicle (ROV). Forexample, an ROV can manipulate pumping apparatus 10 by, for example,manipulating a portion of frame 42.

In some embodiments, frame 42 comprises tubular members. In theseembodiments, such tubular members can provide structural support formotors 30, pumps 14, other components, and/or the like, and/or can beconfigured as hydraulic and/or electrical conduits.

FIGS. 4A-4E depict various views of a second embodiment 10 b of thepresent pumping apparatuses. In this embodiment, pumping apparatus 10 bcomprises one or more hydraulic stabs 46. Stabs 46 of the presentdisclosure can be male or female. In some embodiments, stabs 46 areconfigured to allow hydraulic ROV control of the subsea pumpingapparatus (e.g., ROV control of a pump, motor, and/or the like) (e.g.,and connectors 28 can be configured to allow electrical ROV control ofthe subsea pumping apparatus). In the embodiment shown, stabs 46 are influid communication with at least one of the one or more pumps 14. Inpumping apparatus 10 a, stabs 46 are configured to facilitate directfluid communication with a hydraulically actuated device of a blowoutpreventer (e.g., and/or such functionality can be facilitated throughinterface ports 26 and/or the like).

For example, some of the present methods for actuating a hydraulicallyactuated device comprise providing hydraulic fluid to the hydraulicallyactuated device using one or more pumps (e.g., 14) disposed on a subseapumping apparatus (e.g., 10 b), where the one or more pumps are indirect fluid communication with the hydraulically actuated device (e.g.,via stabs 46 and/or without any intervening valves, accumulators, and/orthe like between the pumping apparatus and the hydraulically actuateddevice) (e.g., to allow for displacement controlled actuation of thehydraulically actuated device). For example, in some embodiments, aninlet of a pumping apparatus (e.g., or a pump 14 thereof) and an outletof a pumping apparatus (e.g., or a pump 14 thereof) can be directly andrespectively coupled to an open chamber and an close chamber of ahydraulically actuated device, such as, for example, a choke or killvalve, to allow for displacement controlled actuation of thehydraulically actuated device. Some methods comprise varying anactuation speed of the hydraulically actuated device by varying a speedof a motor (e.g., 30) (e.g., via one or more motor controllers 174,described in more detail below) coupled to at least one of the one ormore pumps and/or by varying a position of a valve (e.g., 38) (e.g., viaone or more valve controllers, described in more detail below) in fluidcommunication with an outlet (e.g., 22) of at least one of the one ormore pumps. In some methods, at least one of the one or more pumps is abi-directional hydraulic pump. In such embodiments, at least onebi-directional hydraulic pump can be actuated in a first direction tocause actuation of the device in a first direction, and can be actuatedin a second direction to cause actuation of the device in a seconddirection. In some methods, at least one of the one more pumps is anover-center variable displacement hydraulic pump. In some methods, atleast one of the one more pumps is a switched-mode pump.

In the embodiment shown, pumping apparatus 10 b comprises a fluidreservoir 50 in fluid communication with at least one pump 14. Forexample, in this embodiment, fluid reservoir 50 is configured to storehydraulic fluid (e.g., received from a return line of a hydraulicallyactuated device, from a rigid conduit and/or hot line, from adesalination and/or treatment system, and/or the like). In someembodiments, fluid reservoir 50 is configured to store overflowhydraulic fluid from a portion and/or component of pumping apparatus 10b, another reservoir, and/or the like (e.g., and may comprise anoverflow relief valve 52, as shown in FIG. 8 ).

In some embodiments, fluid reservoir 50 is an accumulator (e.g., tostore hydraulic fluid). Some embodiments comprise multiple accumulators(e.g., whether or not configured as a fluid reservoir 50, for example tostore pressurized hydraulic fluid) (e.g., configured in parallel and/orseries). In some embodiments, accumulators can facilitate a reduction inhydraulic flow rate and/or pressure spikes and/or provide pressurizedhydraulic fluid in addition to or lieu of pressurized hydraulic fluidprovided by pumps 14 (e.g., and thus function as a pressurized hydraulicfluid buffer).

FIG. 5A depicts one example of a fluid reservoir 50 a suitable for usein some embodiments of the present pumping apparatuses. In theembodiment shown, fluid reservoir 50 a comprises a piston 54 configuredto vary an internal volume of the reservoir. For example, in thisembodiment, reservoir 50 a defines a first portion 58 configured toreceive sea water and a second portion 62 configured to store hydraulicfluid, the first and second portions separated by slidable piston 54(e.g., which may be biased towards first portion 58 and/or secondportion 62 via one or more springs). In the depicted embodiment, asurface 66 of piston 54 can be exposed to sea water (e.g., within firstportion 58), which can enter and/or exit the first portion through avent or opening 70. In the embodiment shown, a coarse filter 74 isdisposed between first portion 58 and a subsea environment (e.g., overvent or opening 70) (e.g., which may minimize the undesired entry ofparticles and/or contaminants into reservoir 50 a). In this embodiment,piston 54 can be slidably displaced (e.g., by water pressure acting onsurface 66) within the reservoir until a pressure within first portion58 substantially equals a pressure within second portion 62. In theembodiment shown, reservoir 50 a comprises a connection 78 configured tofacilitate hydraulic fluid flow into and/or out of second portion 62.

FIG. 5B depicts one example of a fluid reservoir 50 b suitable for usein some embodiments of the present pumping apparatuses. In theembodiment shown, fluid reservoir 50 b comprises a flexible bladder 82(e.g., whether elastic and/or inelastic). In the depicted embodiment,flexible bladder 82 is disposed within fluid reservoir 50 b such that awall of the flexible bladder defines two portions of an interior ofreservoir 50 b: a first portion 86 within bladder 82, and a secondportion 90 outside of the bladder. In the embodiment shown, firstportion 86 (e.g., flexible bladder 82) is configured to receive seawater (e.g., which can enter and/or exit first portion 86 through a ventor opening 94) to vary an internal pressure of second portion 90;however, in other embodiments, first portion 86 (e.g., flexible bladder82) can be configured to store hydraulic fluid, and second portion 90can be configured to receive sea water to vary an internal pressure ofthe first portion. In this embodiment, as sea water enters first portion86, flexible bladder 82 can distend (e.g., if elastic) and/or otherwisedisplace until a pressure within the first portion substantially equalsa pressure within second portion 90. As shown, a coarse filter 98 isdisposed between first portion 86 and a subsea environment (e.g., overvent or opening 94) (e.g., which may minimize the undesired entry ofparticles and/or other contaminants into reservoir 50 b). In theembodiment shown, reservoir 50 b comprises a connection 102 configuredto allow hydraulic fluid flow into and/or out of second portion 90. Inthis embodiment, fluid reservoir 50 b comprises a anti-extrusion poppetvalve 106 configured to prevent extrusion of bladder 82 out ofconnection 102.

In some embodiments, at least a portion of the hydraulic fluid can bestored above sea. For example, in the embodiment shown, pumpingapparatus 10 b comprises a hydraulic connector (e.g., interface port 26,stab 46, and/or the like) in fluid communication with at least one ofone or more pumps 14 and configured to be coupled to at least one of arigid conduit and a hot line to supply at least a portion of thehydraulic fluid from above sea to the subsea pumping apparatus.

Referring back to FIGS. 4A-4E, in this embodiment, pumping apparatus 10b comprises one or more batteries 110 (FIG. 4E) coupled to the subseapumping apparatus and configured to provide electrical power to at leastone of motors 30. For example, in this embodiment, the one or morebatteries are configured to power to a majority of the motors (e.g.,such that pumping apparatus 10 b can adequately actuate a hydraulicallyactuated device of a blowout preventer without electricity provided fromabove sea, for example, via an auxiliary cable). Any battery of thepresent disclosure can comprise any suitable battery, such as, forexample, a lithium-ion battery, nickel-metal hydride battery,nickel-cadmium battery, lead-acid battery, and/or the like.

In the embodiment shown, at least one battery 110 is disposed within avessel 114. For example, in this embodiment, vessel 114 is anatmospheric pressure vessel (e.g., is configured to have an internalpressure of approximately 1 atmosphere (atm)). However, in otherembodiments, vessel 114 can be configured as a fluid-filled chamber(e.g., filled with a non-conductive substance, such as, for example, adielectric substance, and/or the like). In some embodiments, suchfluid-filled chambers may be pressure-compensated (e.g., with a piston,flexible bladder, diaphragm, and/or the like, configured to produce apressure within the chamber hat matches or exceeds a pressure of asubsea environment, for example, similarly to as described above forfluid reservoir 50 a and/or 50 b).

Batteries of the present pumping apparatuses can be configured as energystorage devices, and may be less susceptible to effectiveness losses atincreased pressures than other energy storage devices (e.g.,accumulators). Batteries of the present disclosure may (e.g., also) beconfigured to occupy a smaller volume (e.g., be physically smaller)and/or have a lower weight than other energy storage devices (e.g.,accumulators). Thus, batteries of the present subsea pumping apparatusesmay be efficiently adapted to provide at least a portion of an energynecessary to, for example, perform emergency operations associated witha blowout preventer (e.g., autoshear functions, emergency disconnectfunctions, and/or dead man functions).

In the embodiment shown, pumping apparatus 10 b comprises at least oneelectrical connector (e.g., an interface port 26, connector 28, and/orthe like) in electrical communication with at least one motor andconfigured to be coupled to an auxiliary cable to provide electricalpower to the subsea pumping apparatus. In some embodiments, suchelectrical connectors comprise inductive couplers. Power provided viaauxiliary cable(s) can be used, for example, to power one or more ofmotors 30, charge one or more of batteries 110, and/or the like.

For example, in some embodiments, any number of one or more pumps 14(e.g., up to and including all of pumps 14) can be actuated, in part orin whole, via electrical power from auxiliary cable(s), and/or viaelectrical power from one or more batteries 110. To illustrate, some ofthe present methods for actuating a plurality of subsea pumps (e.g., 14)disposed on a subsea pumping apparatus (e.g., 10 b) comprise actuatingat least a first pump with a first level of power provided by a firstauxiliary cable, and actuating at least a second pump with a secondlevel of power provided by a second auxiliary cable, where the firstlevel of power is equal to or larger than the second level of power.

In the embodiment shown, pumping apparatus 10 b comprises a desalinationsystem 118 configured to desalinate sea water to produce at least aportion of the hydraulic fluid. The following descriptions of reverseosmosis desalination systems are provided only by way of example, asembodiments of the present pumping apparatuses can comprise any suitabledesalination system, such as, for example, a thermal desalinationsystem.

For example, in this embodiment, desalination system 118 comprises areverse osmosis membrane 122 and a pump 126 configured to pass sea waterthrough the membrane to produce hydraulic fluid (e.g., desalinatedwater). Desalination system 118 is configured to produce a portion of(e.g., up to and including all of) the hydraulic fluid for subseapumping apparatus 10 b.

In the embodiment shown, pumping apparatus 10 b comprises a treatmentsystem 130 configured to supply a dopant to at least a portion of thehydraulic fluid. Dopants suitable for use in the present treatmentsystems can comprise any suitable dopant, such as, for exampleanti-corrosion and/or lubricity additives, glycol, biocides,freeze-point suppressants, and/or the like. In this embodiment,treatment system 130 comprises a dopant pump 134 configured to supplythe dopant to a portion of the hydraulic fluid (e.g., whether or not theportion of the hydraulic fluid was generated by a desalination system).In the embodiment shown, treatment system 130 comprises a dopantreservoir 138 configured to store at least a portion of the dopant. Insome embodiments, dopant reservoir 138 can be configured to interfacewith an ROV, for example, to facilitate refilling of the reservoir(e.g., via one or more interface ports, connections, stabs, and/or thelike).

Some embodiments of the present pumping apparatuses, regardless of thepresence of a desalination and/or dopant system, are configured toprovide non-desalinated and/or untreated sea water to a hydraulicallyactuated device of a blowout preventer (e.g., in an emergency situation)(e.g., via one or more emergency pumps, which may be dedicated and/ormay comprise a pump 14, 126, and/or 134).

Some embodiments of the present pumping apparatuses comprise a heatexchanger configured to exchange heat between the hydraulic fluid and asubsea environment (e.g., to cool hydraulic fluid, which may be heatedduring pumping).

FIG. 6 is a diagram of a desalination system 118 a and a treatmentsystem 130 a suitable for use in some embodiments of the present pumpingapparatuses (e.g., 10 b). In the embodiment shown, pumps 126 areconfigured to be actuated by motors 142 to draw sea water into thedesalination system, and are separate from pumps 14 and motors 30;however, in other embodiments, pumps 126 can comprise a pump 14 and/or apump 134 and/or motors 142 can comprise a motor 30 and/or a motor 150.In this embodiment, desalination system 118 a comprises one or morefilters 146 configured to filter sea water (e.g., which may be disposedin series from coarse to fine along a flow path through the desalinationsystem, as shown). Components of the present desalination systems (e.g.,reverse osmosis membrane(s) 122, pump(s) 126, motor(s) 142, filter(s)146, and/or the like) can be disposed in any suitable configuration, forexample, in this embodiment, desalination system 118 a comprises tworeverse osmosis membranes 122 disposed in parallel (e.g., along withassociated pumps, motors, and filters). Hydraulic fluid generated by adesalination system of the present disclosure can be used for anysuitable purpose within a subsea pumping apparatus, hydraulicallyactuated device, and/or the like, such as, for example, for hydraulicactuation, for system-leakage make up, for filling reservoir(s), and/orthe like.

Also shown in FIG. 6 is an illustrative example of a treatment system130 a. In this embodiment, dopant pump 134 is configured to be driven bya motor 150 to draw dopant from dopant reservoir 138, and the pump andmotor are separate from pumps 14 and/or 126 and/or motors 30 and/or 142.However, in other embodiments, a pump 134 can comprise a pump 14 and/or126 and/or a motor 150 can comprise a motor 30 and/or 142. In thisembodiment, treatment system 130 a comprises a filter 152 configured tofilter at least a portion of the dopant.

In some embodiments, the present pumping apparatuses, desalinationsystems, treatment systems, and/or reservoirs comprise an ultravioletlight 154 (FIG. 8 ) configured to expose at least a portion of thehydraulic fluid to UV light (e.g., to disinfect at least a portion ofthe hydraulic fluid).

While subsea desalination systems, treatment systems, and/or the likemay provide certain advantages (e.g., a reduction in hydraulic linesand/or routing), in some embodiments, at least a portion of adesalination system and/or treatment system can be disposed above sea(e.g., at a surface installation). For example, in some embodiments,hydraulic fluid (e.g., desalinated water) can be produced and/or treatedabove sea and provided to a pumping apparatus disposed subsea (e.g., viaa rigid conduit, hot line, and/or the like connected to an interfaceport 26, stab 46, and/or the like).

FIG. 7A-7E depict various views of a third embodiment 10 c of thepresent subsea pumping apparatuses. As shown, the present pumpingapparatuses can be configured to be (e.g., directly) coupled to oneanother and hydraulically and/or electrically connected in series and/orin parallel (e.g., via conduits 156 connected at interface ports 26, asshown). For example, in this embodiment, subsea pumping apparatus 10 ccomprises one or more (e.g., 4 (four)) subsea pumping apparatuses 10 acoupled together. To illustrate, in this embodiment, a frame 42 of eachsubsea pumping apparatus 10 a is coupled to a frame of at least oneother subsea pumping apparatus 10 a. In these embodiments, a subseapumping apparatus 10 a may be referred to as a subsea pumping module,and subsea pumping apparatus 10 c may be referred to as a subsea pumpingassembly. In some embodiments, subsea pumping modules (e.g., 10 a)(e.g., and/or pumps 14, motors 30, and/or the like) may be removableand/or replaceable within a subsea pumping assembly (e.g., subseapumping apparatus 10 c), for example, via ROV and/or winch manipulation.For example, some embodiments (e.g., 10 c) may comprise components(e.g., subsea pumping modules (e.g., 10 a), pumps 14, motors 30, and/orthe like) that are configured to be modular, replaceable,reconfigurable, and/or interchangeable (e.g., hot swappable) within thesubsea pumping apparatus, for example, via removable connection of thecomponent(s) to one or more hydraulic and/or electrical connectors(e.g., 28), interface ports (e.g., 26), stabs (e.g., 46) and/or the likeof the subsea pumping apparatus.

FIG. 8 is a diagram of a fourth embodiment 10 d of the present subseapumping apparatuses. In this diagram, examples of fluid pathways areindicated by solid lines 158, examples of (e.g., electrical) powerpathways are indicated by long dashed lines 162, and examples of signalpathways are indicated by short dashed lines 166. Any circuitry,controllers, processors, electronic components, and/or the like of thepresent pumping apparatuses can be sealed in chambers, such as, forexample controller housing 168 (FIG. 1 ) (e.g., an atmospheric and/orpressure-compensated controller housing) (e.g., to protect thecomponents from a subsea environment). Any circuitry, controllers,processors, electronic components, and/or the like of the presentpumping apparatuses can be powered by one or more batteries 110 and/orfrom power communicated from above sea (e.g., via an auxiliary cable).Any circuitry, controllers, processors, electronic components, and/orthe like of the present pumping apparatuses can be disposed on thepumping apparatus, disposed above sea (e.g., at a surface installation),and/or disposed subsea but not disposed on the subsea pumping apparatus.Embodiments of the present pumping apparatuses (e.g., 10 d) can beconfigured to vary hydraulic fluid flow rate and/or pressure withinand/or from the subsea pumping apparatus via electrical motor controland/or hydraulic pump control.

For example, in the embodiment shown, pumping apparatus 10 d comprises acontrol circuit 170. In this embodiment, control circuit 170 comprisesone or more motor controllers 174, each in electrical communication withat least one of motors 30 and configured to selectively adjust a speedof the motor (e.g., by varying an electrical power supplied to the motorand/or by providing a control signal to the motor) (e.g., and thus varyhydraulic fluid flow rate and/or pressure provided by an associatedpump(s) 14). In some embodiments, a motor controller 174 can beconfigured to provide binary and/or variable control. For example, inthis embodiment, at least one motor controller 174 is configured toadjust a speed of a motor by selectively activating and deactivating themotor (e.g., binary, or on/off, motor control). In the embodiment shown,at least one motor controller 174 is configured to selectively adjust aspeed of a motor to a speed selected from at least three pre-determinedspeeds. For example, in this embodiment, at least one motor controller174 is configured to adjust a speed of a motor to a speed of three ormore speeds, at least two of the speeds greater than a speed of themotor when the motor is deactivated. In some embodiments, motorcontroller 174 is configured to adjust a speed of a motor to anysuitable speed within a range of speeds (e.g., between 0% and 100% of amaximum motor speed, for example, to provide for full variable motorcontrol).

For further example, in this embodiment, pumping apparatus 10 dcomprises a control circuit (e.g., 170, in this embodiment) comprisingone or more valve controllers (e.g., which, in this embodiment, formcomponent(s) of and/or are integral with a controller or processor 178).In the embodiment shown, the valve controllers (e.g., within controlleror processor 178) are configured to adjust an output of a pump 14 byselectively adjusting a valve 38 (e.g., as described above, in fluidcommunication with an outlet 22 of at least one pump 14 and configuredto selectively divert and/or route hydraulic fluid from the pump outletto a pump inlet, a reservoir, a subsea environment, and/or the like)between an open and a closed position. In this embodiment, the valvecontrollers and/or valves 38 can be configured such that the valves areselectively adjustable between only a closed and an open position (e.g.,binary, or on/off valve control, for example, a 2-way unloader valve38), and/or can be configured such that the valves are selectivelyadjustable between at least three pre-determined positions (e.g.,variable valve control, for example, a proportional unloader valve 38).In some embodiments, one or more valve controllers are configured toadjust a position of a valve to any suitable position within a range ofpositions (e.g., between 0% and 100% of a fully opened position, forexample, to provide for full variable valve control). In theseembodiments, one or more subsea pumps 14 and/or motors 30 can becontrolled by actuating a valve 38 (e.g., under control of a valvecontroller and/or a controller or processor 178) to divert hydraulicfluid from the outlet of one or more pumps (e.g., to an area at a lowerpressure than a pressure within the outlet). In this way, one or morevalves 38 can be adjusted to reduce a load on a pump and/or motor,relieve pressure within the pump and/or pump outlet, and/or regulate thepressure and/or flow rate of hydraulic fluid exiting the outlet.

The present subsea pumping apparatuses may be configured to providehydraulic fluid to power to various hydraulically actuated devices,which may vary in operational hydraulic flow rate and pressurerequirements. For example, some hydraulically actuated devices mayrequire a flow rate of between 3 gpm and 130 gpm at a pressure ofbetween 500 psig and 5,000 psig for effective and/or desirableoperation. Thus, some embodiments of the present subsea pumpingapparatuses (e.g., 10 d) can be configured to provide hydraulic fluid toa variety of hydraulically actuated devices (e.g., at a range of flowrates and/or pressures, which may include those identified immediatelyabove). Such adjustability may be facilitated, for example, using binaryand/or variable hydraulic control of pumps 14 and/or electrical controlof motors 30, as described above.

For example, binary hydraulic pump and/or electrical motor control mayprovide for incremental adjustability of hydraulic fluid flow rateand/or pressure. To illustrate, if each pump 14 of a subsea pumpingapparatus is configured to provide hydraulic fluid at a flow rate of 10gpm, and each motor 30 of the subsea pumping apparatus can actuate two(2) pumps, then flow rate adjustability may be provided in increments of10 gpm if every pump is configured for binary hydraulic control, or inincrements of 20 gpm if every motor is configured for binary electricalcontrol. If a pump 14 or motor 30 of a subsea pumping apparatus isconfigured for variable hydraulic and/or electrical control, then thepump and/or motor can be configured to provide a range of hydraulicfluid flow rate and/or pressure (e.g., from 0 to 100% of the flow ratecapability of the motor and/or pump).

In some embodiments, each of pumps 14 and/or motors 30 can be configuredfor variable control, and such embodiments can thus be configured tosubstantially match a hydraulic flow rate and/or pressure requirementfor a given hydraulically actuated device. However, other embodimentscan comprise any suitable motor and/or pump control configuration (e.g.,binary and/or variable, electrical and/or hydraulic, combinationsthereof, and/or the like). Thus, some embodiments may provide a flowrate which does not substantially match a desired hydraulic fluid flowrate and/or pressure for a given hydraulically actuated device. In someembodiments, if a flow rate provided by a subsea pumping apparatus ishigher than desired for a given hydraulically actuated device, systempressure can increase, and a relief, bypass, and/or regulating valve 182can be actuated to route excess hydraulic fluid flow to a reservoir,subsea environment, and/or the like (e.g., and thus reduce systempressure).

In the embodiment shown, subsea pumping apparatus 10 d comprises one ormore sensors 186 coupled to the subsea pumping apparatus and configuredto capture data indicative of at least one of pressure, flow rate,temperature, conductivity, pH, position, velocity, acceleration,current, voltage, and/or the like. In some embodiments, the presentpumping apparatuses comprise circuitry for communicating a signalindicative of the data captured by the one or more sensors (e.g., to anabove-surface installation). In some embodiments, the pumpingapparatuses comprise a memory coupled to the circuitry (e.g., to storedata indicative of the data captured by the one or more sensors).

As shown, pumping apparatus 10 d comprises a processor or controller178. In this embodiment, processor or controller 178 is configured tocontrol, based at least in part on the data captured by one or moresensors 186, actuation of at least one of: at least one of motors 30(e.g., via a motor controller 174) and at least one of pumps 14 (e.g.,via a valve controller); however, in other embodiments, processor orcontroller 178 can be configured to control the subsea pumping apparatusregardless of data captured by one or more sensors 186 (e.g., and insome of these embodiments, one or more sensors 186 can be omitted).

For example, sensors 186 can be configured to capture data indicative ofan outlet pressure and/or flow rate (e.g., of a pump 14, a group ofpumps 14, and/or an outlet of the subsea pumping apparatus) andprocessor or controller 178 can receive the data and determine, forexample, which pumps 14 and/or motors 30 to actuate. For example,processor or controller 178 can receive the data from sensors 186 andcompare the data to a known, calculated, and/or commanded hydraulicfluid pressure and/or flow rate requirement for a given hydraulicallyactuated device. If the data indicates that the outlet pressure and/orflow rate is lower than the known, calculated, and/or commandedhydraulic fluid pressure and/or flow rate requirement, the processor orcontroller can adjust the outlet pressure and/or flow rate upwards byactivating and/or increasing a speed of one or more motors 30 (e.g., viacommunication with motor controllers 174) and/or increase an output ofone or more pumps 14 (e.g., via communication with valve controllers tomove one or more valves 38 towards a closed position). Alternatively, ifthe data indicates that the outlet pressure and/or flow rate is higherthan the known, calculated, and/or commanded hydraulic fluid pressureand/or flow rate requirement, the processor or controller can adjust theoutlet pressure and/or flow rate downwards by deactivating and/ordecreasing the speed of one or more motors 30, and/or decrease an outputof one or more pumps 14 (e.g., via communication with valve controllersto move one or more valves 38 towards an open position).

One way of performing the above control is by using the followingexample code:

   function Gain_out = SSPA_Controller(P_atram, Gain_curr, P_setpt,P_band, P_hydro,  P_thresh1,  P_thresh2,  Gain_max,  Gain_min, Gain_thresh1, Gain_thresh2) P_curr = P_atram − P_hydro; P_target_low =P_setpt-P_band;    %Threshold for increasing pump gain P_target_hi =P_setpt+P_band;   %Threshold for decreasing pump gain % If operatingabove threshold, limit number of simultaneously activated pumps ifP_curr > P_thresh2    Gain_max = Gain_thresh2; elseif P_curr > P_thresh1   Gain_max = Gain_thresh1; end % If at a gain threshold, determinewhether to activate pumps based on pressure differences from a targetpressure if Gain_curr == Gain_thresh1    P_target_low = 0.5*P_thresh1;elseif Gain_curr == Gain_thresh2    P_target_low = 0.5*P_thresh2; end ifGain_curr < Gain_min    Gain_out = Gain_min; elseif Gain_curr > Gain_max   Gain_out = Gain_max; elseif (P_curr < P_target_low) && (Gain_curr <Gain_max)    Gain_out = Gain_curr+1; elseif (P_curr > P_target_hi) &&(Gain_curr > Gain_min)    Gain_out = Gain_curr-1; else    Gain_out =Gain_curr; end end

Similar control decisions may be made based on any suitable variables,such as, for example, temperature (e.g., of hydraulic fluid), current(e.g., through an auxiliary cable), and/or the like (e.g., in a monitor,compare, actuate fashion).

For further example, some of the present methods for controlling aplurality of motor-actuated subsea pumps (e.g., 14) comprise recording(e.g., with a processor or controller 178) a run-time of a first motor(e.g., 30) over a pre-determined period of time, and deactivating thefirst motor and activating a second motor if the recorded run-timeexceeds a pre-determined threshold. Some of the present methods forcontrolling a plurality of motor-actuated subsea pumps compriserecording a number of motor activations of a first motor over a firstpre-determined period of time and activating a second motor in lieu ofthe first motor during a second pre-determined period of time if thenumber of motor activations of the first motor over the firstpre-determined period of time exceeds a pre-determined threshold. Insome embodiments, a processor or controller (e.g., 178) is configured toavoid deactivating an activated motor (e.g., 30) for a firstpre-determined period of time if a number of motor activations of theactivated motor over a second pre-determined period of time exceeds apre-determined threshold. In this way, some embodiments of the presentsubsea pumping apparatuses are configured to mitigate wear and tear onpumps 14 and/or motors 30.

For yet further example, in this embodiment, processor or controller 178is configured to detect, based at least in part on the data captured bythe one or more sensors 186, an abnormal operation associated with oneor more components including at least one of the one or more pumps 14,at least one of the one or more motors 30, hydraulically actuateddevice, and blowout preventer, perform a diagnostic and/or prognosticanalysis of the one or more components, and control the one or morecomponents based at least in part on at least one of the detectedabnormal operation and a result of the diagnostic and/or prognosticanalysis (e.g., activate a second motor 30 and/or pump 14 based on anindication from one or more sensors 186 that a first motor 30 and/orpump 14 has and/or is failing).

In the embodiment shown, processor or controller 178 is configured tomonitor and/or control components (e.g., pumps 14 and/or motors 30) tomitigate and/or compensate for hydraulic fluid leakage. For example,some of the present methods for controlling a pressure within a subseahydraulic system (e.g., within subsea pumping apparatus 10 d, ahydraulically actuated device, a blowout preventer, and/or the like)comprise determining an amount of hydraulic fluid leakage from thesubsea hydraulic system (e.g., via processor or controller 178monitoring of one or more sensors 186) and providing, with one or moresubsea pumps (e.g., 14), an amount of hydraulic fluid to the subseahydraulic system that substantially matches the amount of hydraulicfluid leakage (e.g., whether such fluid is provided subsea, such as, forexample, via induction of sea water, subsea production of desalinatedwater, and/or the like, and/or provided from above sea, for example, viaa rigid conduit, hot line, and/or the like).

In the embodiment shown, processor or controller 178 is configured tomonitor and/or control the state of one or more batteries 110. Forexample, processor or controller 178 can be configured to load test oneor more batteries, measure and/or control parameters associated withcharging one or more batteries, estimate a time period before one ormore batteries are discharged, and/or the like.

In the embodiment shown, processor or controller 178 is configured toelectrically communicate with an above-sea control interface (e.g., tosend and/or receive signals, data, commands, commands, and/or the like).

In the embodiment shown, subsea pumping apparatus 10 d comprises amemory coupled to processor or controller 178 (e.g., forming a componentof and/or integral with processor or controller 178, in thisembodiment). Memories of the present pumping apparatuses can beconfigured to store any suitable information, such as, for example,information regarding diagnostic and/or prognostic operations,configuration files (e.g., for a subsea pumping apparatus, hydraulicallyactuated device, and/or a blowout preventer), historic (e.g., sensor)data, and/or the like.

FIG. 9 is a diagram of a fifth embodiment 10 e of the present subseapumping apparatuses. In the embodiment shown, pumping apparatus 10 dcomprises and/or is in fluid communication with a fluid rail 190 influid communication with an outlet 22 of at least one of pumps 14. Inthis embodiment, one or more valves 194 (e.g., relief valve(s),regulating valve(s), unloading valve(s), and/or the like) in fluidcommunication with fluid rail 190 can be configured to deliver hydraulicfluid from subsea pumping apparatus 10 e to one or more hydraulicallyactuated device(s) of a blowout preventer at one or more pressures.

In the embodiment shown, pumping apparatus 10 e comprises a filteringsystem 198 (e.g., comprising one or more filters 202) configured tofilter the hydraulic fluid (e.g., to remove any contaminants and/or thelike). In this embodiment, filtering system 198 comprises a bypass valve206 configured to selectively divert fluid around at least a portion ofthe filtering system (e.g., if a portion of filtering system 198, suchas a filter 202, becomes clogged and/or otherwise unsuitable for use).

The present pumping apparatuses can be configured as part of a redundantpressure system. For example, a first flow source can comprise a rigidconduit and/or hot line configured to provide hydraulic fluid to ahydraulically actuated device, a second flow source can comprise asubsea pumping apparatus (e.g., 10 a, 10 b, 10 c, 10 d, 10 e, and/or thelike) configured to provide hydraulic fluid to the hydraulicallyactuated device, and the first and second flow sources can be configuredto simultaneously and/or selectively supply hydraulic fluid to thehydraulically actuated device.

The above specification and examples provide a complete description ofthe structure and use of illustrative embodiments. Although certainembodiments have been described above with a certain degree ofparticularity, or with reference to one or more individual embodiments,those skilled in the art could make numerous alterations to thedisclosed embodiments without departing from the scope of thisinvention. As such, the various illustrative embodiments of the methodsand systems are not intended to be limited to the particular formsdisclosed. Rather, they include all modifications and alternativesfalling within the scope of the claims, and embodiments other than theone shown may include some or all of the features of the depictedembodiment. For example, elements may be omitted or combined as aunitary structure, and/or connections may be substituted. Further, whereappropriate, aspects of any of the examples described above may becombined with aspects of any of the other examples described to formfurther examples having comparable or different properties and/orfunctions, and addressing the same or different problems. Similarly, itwill be understood that the benefits and advantages described above mayrelate to one embodiment or may relate to several embodiments.

The claims are not intended to include, and should not be interpreted toinclude, means-plus- or step-plus-function limitations, unless such alimitation is explicitly recited in a given claim using the phrase(s)“means for” or “step for,” respectively.

1. A subsea pumping apparatus comprising: one or more subsea pumps, eachhaving an inlet and an outlet; one or more motors, each configured toactuate at least one of the one or more pumps to communicate a hydraulicfluid from the inlet to the outlet; and one or more hydraulic stabs,each in fluid communication with at least one of the one or more pumps;where the subsea pumping apparatus is configured to be in direct fluidcommunication with a hydraulically actuated device of a blowoutpreventer via the one or more hydraulic stabs.
 2. The subsea pumpingapparatus of claim 1, comprising one or more valves, each in fluidcommunication with the outlet of at least one of the one or more pumpsand configured to selectively route hydraulic fluid from the outlet toat least one of a subsea environment, a reservoir, and the inlet of thepump.
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 13. A subsea pumping apparatus comprising: one or more subseapumps, each having an inlet and an outlet; one or more motors, eachconfigured to actuate at least one of the one or more pumps tocommunicate a hydraulic fluid from the inlet to the outlet; and a fluidreservoir in fluid communication with at least one of the one or morepumps, the fluid reservoir configured to store at least a portion of thehydraulic fluid; where the subsea pumping apparatus is configured to bein fluid communication with a hydraulically actuated device of a blowoutpreventer.
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 17. The subseapumping apparatus of claim 13, comprising one or more valves, each influid communication with the outlet of at least one of the one or morepumps and configured to selectively route hydraulic fluid from theoutlet to at least one of a subsea environment, a reservoir, and theinlet of the pump.
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 28. The subsea pumping apparatus of claim1, where the outlet of at least one of the one or more pumps is in fluidcommunication with the inlet of at least one other pump.
 29. The subseapumping apparatus of claim 1, where the outlet of at least one of theone or more pumps is in fluid communication with the outlet of at leastone other pump.
 30. The subsea pumping apparatus of claim 1, where theone or more pumps comprises two pumps.
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 46. The subseapumping apparatus of claim 1, where at least one of the one or moremotors is configured to actuate at least two of the one or more pumps.47. The subsea pumping apparatus of claim 1, where at least one of theone or more motors is coupled to at least one of the one or more pumpsvia a gear box.
 48. The subsea pumping apparatus of claim 1, where atleast one of the one or more motors is directly coupled to at least oneof the one or more pumps such that neither a shaft seal of the motor nora shaft seal of the pump is exposed to the subsea environment.
 49. Thesubsea pumping apparatus of claim 1, comprising a control circuit, thecontrol circuit comprising one or more motor controllers, each motorcontroller in electrical communication with at least one of the one ormore motors and configured to selectively adjust a speed of the motor.50. The subsea pumping apparatus of claim 49, where at least one of theone or more motor controllers is configured to adjust a speed of a motorby selectively activating and deactivating the motor.
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 53. The subsea pumping apparatus of claim 1, comprising oneor more sensors coupled to the subsea pumping apparatus and configuredto capture data indicative of at least one of pressure, flow rate,temperature, conductivity, pH, position, velocity, acceleration,current, and voltage.
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 56. The subseapumping apparatus of claim 53, comprising a processor configured tocontrol, based at least in part on the data captured by the one or moresensors, actuation of at least one of: at least one of the one or moremotors and at least one of the one or more pumps.
 57. The subsea pumpingapparatus of claim 56, where the processor is configured to: detect,based at least in part on the data captured by the one or more sensors,an abnormal operation associated with one or more components includingat least one of: at least one of the one or more pumps, at least one ofthe one or more motors, hydraulically actuated device, and blowoutpreventer; perform a diagnostic analysis of the one or more components;and control the one or more components based at least in part on atleast one of the detected abnormal operation and a result of thediagnostic analysis.
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 62. The subsea pumping apparatus of claim 1, comprising oneor more batteries coupled to the subsea pumping apparatus and configuredto provide electrical power to at least one of the one or more motors.63. (canceled)
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 76. A methodfor actuating one or more subsea pumps disposed on a subsea pumpingapparatus, the method comprising: actuating a valve of the subseapumping apparatus to divert hydraulic fluid from an outlet of at leastone of the one or more pumps; and routing the diverted hydraulic fluidto at least one of a subsea environment, a reservoir, and an inlet ofthe at least one of the one or more pumps.
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